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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d7/d3b/namespacecv_1_1large__kinfu.html">large_kinfu</a></li><li class="navelem"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a></li>  </ul>
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<p><code>#include &lt;opencv2/rgbd/large_kinfu.hpp&gt;</code></p>
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Static Public Member Functions</h2></td></tr>
<tr class="memitem:adaf1005753fb03c804c872ca63b8cfd9"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#adaf1005753fb03c804c872ca63b8cfd9">coarseParams</a> ()</td></tr>
<tr class="memdesc:adaf1005753fb03c804c872ca63b8cfd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.  <a href="#adaf1005753fb03c804c872ca63b8cfd9">More...</a><br /></td></tr>
<tr class="separator:adaf1005753fb03c804c872ca63b8cfd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e8151956887418d0356a85c08995d64"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a2e8151956887418d0356a85c08995d64">defaultParams</a> ()</td></tr>
<tr class="memdesc:a2e8151956887418d0356a85c08995d64"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default parameters A set of parameters which provides better model quality, can be very slow.  <a href="#a2e8151956887418d0356a85c08995d64">More...</a><br /></td></tr>
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<tr class="memitem:a3574664d1534355a1365bab363f57d99"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a3574664d1534355a1365bab363f57d99">hashTSDFParams</a> (bool isCoarse)</td></tr>
<tr class="memdesc:a3574664d1534355a1365bab363f57d99"><td class="mdescLeft">&#160;</td><td class="mdescRight">HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume.  <a href="#a3574664d1534355a1365bab363f57d99">More...</a><br /></td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:aeb02c8712ce551f9b5ee46bd7c8f517f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#aeb02c8712ce551f9b5ee46bd7c8f517f">bilateral_kernel_size</a></td></tr>
<tr class="memdesc:aeb02c8712ce551f9b5ee46bd7c8f517f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kernel size in pixels for bilateral smooth.  <a href="#aeb02c8712ce551f9b5ee46bd7c8f517f">More...</a><br /></td></tr>
<tr class="separator:aeb02c8712ce551f9b5ee46bd7c8f517f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a36a59a7f94e59b29bfc2a6713360475d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a36a59a7f94e59b29bfc2a6713360475d">bilateral_sigma_depth</a></td></tr>
<tr class="memdesc:a36a59a7f94e59b29bfc2a6713360475d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth sigma in meters for bilateral smooth.  <a href="#a36a59a7f94e59b29bfc2a6713360475d">More...</a><br /></td></tr>
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<tr class="memitem:a7e36081c4b9d157e67d43d7129959646"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a7e36081c4b9d157e67d43d7129959646">bilateral_sigma_spatial</a></td></tr>
<tr class="memdesc:a7e36081c4b9d157e67d43d7129959646"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spatial sigma in pixels for bilateral smooth.  <a href="#a7e36081c4b9d157e67d43d7129959646">More...</a><br /></td></tr>
<tr class="separator:a7e36081c4b9d157e67d43d7129959646"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0d730daa5f4c8a68cf26356c0daead0"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#ae0d730daa5f4c8a68cf26356c0daead0">depthFactor</a></td></tr>
<tr class="memdesc:ae0d730daa5f4c8a68cf26356c0daead0"><td class="mdescLeft">&#160;</td><td class="mdescRight">pre-scale per 1 meter for input values Typical values are: 5000 per 1 meter for the 16-bit PNG files of TUM database 1000 per 1 meter for Kinect 2 device 1 per 1 meter for the 32-bit float images in the ROS bag files  <a href="#ae0d730daa5f4c8a68cf26356c0daead0">More...</a><br /></td></tr>
<tr class="separator:ae0d730daa5f4c8a68cf26356c0daead0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84b73294758ea61ffb70b7fcfc21bd39"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a84b73294758ea61ffb70b7fcfc21bd39">frameSize</a></td></tr>
<tr class="memdesc:a84b73294758ea61ffb70b7fcfc21bd39"><td class="mdescLeft">&#160;</td><td class="mdescRight">frame size in pixels  <a href="#a84b73294758ea61ffb70b7fcfc21bd39">More...</a><br /></td></tr>
<tr class="separator:a84b73294758ea61ffb70b7fcfc21bd39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81bd0b33b0251ac143d60da4c39b2216"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a81bd0b33b0251ac143d60da4c39b2216">icpAngleThresh</a></td></tr>
<tr class="memdesc:a81bd0b33b0251ac143d60da4c39b2216"><td class="mdescLeft">&#160;</td><td class="mdescRight">angle threshold for ICP in radians  <a href="#a81bd0b33b0251ac143d60da4c39b2216">More...</a><br /></td></tr>
<tr class="separator:a81bd0b33b0251ac143d60da4c39b2216"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a181bea7d8746001620c719a8b0499e6b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a181bea7d8746001620c719a8b0499e6b">icpDistThresh</a></td></tr>
<tr class="memdesc:a181bea7d8746001620c719a8b0499e6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">distance theshold for ICP in meters  <a href="#a181bea7d8746001620c719a8b0499e6b">More...</a><br /></td></tr>
<tr class="separator:a181bea7d8746001620c719a8b0499e6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25a449957159d23cbb5b8616e07e634c"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a25a449957159d23cbb5b8616e07e634c">icpIterations</a></td></tr>
<tr class="memdesc:a25a449957159d23cbb5b8616e07e634c"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of ICP iterations for each pyramid level  <a href="#a25a449957159d23cbb5b8616e07e634c">More...</a><br /></td></tr>
<tr class="separator:a25a449957159d23cbb5b8616e07e634c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69a31e5dcb4520c024d7d2b67da6dfef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga118a383f60581636c7c8ab180cbb155e">Matx33f</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a69a31e5dcb4520c024d7d2b67da6dfef">intr</a></td></tr>
<tr class="memdesc:a69a31e5dcb4520c024d7d2b67da6dfef"><td class="mdescLeft">&#160;</td><td class="mdescRight">camera intrinsics  <a href="#a69a31e5dcb4520c024d7d2b67da6dfef">More...</a><br /></td></tr>
<tr class="separator:a69a31e5dcb4520c024d7d2b67da6dfef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff03cc7e7261d38512c43446076aa67c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#gab9e0ab642a3e01742916763173b72232">Vec3f</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#aff03cc7e7261d38512c43446076aa67c">lightPose</a></td></tr>
<tr class="memdesc:aff03cc7e7261d38512c43446076aa67c"><td class="mdescLeft">&#160;</td><td class="mdescRight">light pose for rendering in meters  <a href="#aff03cc7e7261d38512c43446076aa67c">More...</a><br /></td></tr>
<tr class="separator:aff03cc7e7261d38512c43446076aa67c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade4e8688d5123acc0e85cef753a36a6c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#ade4e8688d5123acc0e85cef753a36a6c">pyramidLevels</a></td></tr>
<tr class="memdesc:ade4e8688d5123acc0e85cef753a36a6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pyramid levels for ICP.  <a href="#ade4e8688d5123acc0e85cef753a36a6c">More...</a><br /></td></tr>
<tr class="separator:ade4e8688d5123acc0e85cef753a36a6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c561cc9afc58591fdf1caa7f2f1aec4"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a5c561cc9afc58591fdf1caa7f2f1aec4">truncateThreshold</a></td></tr>
<tr class="memdesc:a5c561cc9afc58591fdf1caa7f2f1aec4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for depth truncation in meters All depth values beyond this threshold will be set to zero.  <a href="#a5c561cc9afc58591fdf1caa7f2f1aec4">More...</a><br /></td></tr>
<tr class="separator:a5c561cc9afc58591fdf1caa7f2f1aec4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac009db54c37eb606ae0aa8e0968d5e45"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#ac009db54c37eb606ae0aa8e0968d5e45">tsdf_min_camera_movement</a></td></tr>
<tr class="memdesc:ac009db54c37eb606ae0aa8e0968d5e45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimal camera movement in meters Integrate new depth frame only if camera movement exceeds this value.  <a href="#ac009db54c37eb606ae0aa8e0968d5e45">More...</a><br /></td></tr>
<tr class="separator:ac009db54c37eb606ae0aa8e0968d5e45"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5bd28e4f75b6dbdeecabed675e3fc1cf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">kinfu::VolumeParams</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html#a5bd28e4f75b6dbdeecabed675e3fc1cf">volumeParams</a></td></tr>
<tr class="memdesc:a5bd28e4f75b6dbdeecabed675e3fc1cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Volume parameters.  <a href="#a5bd28e4f75b6dbdeecabed675e3fc1cf">More...</a><br /></td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#adaf1005753fb03c804c872ca63b8cfd9">&#9670;&nbsp;</a></span>coarseParams()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a>&gt; cv::large_kinfu::Params::coarseParams </td>
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<p>Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2e8151956887418d0356a85c08995d64">&#9670;&nbsp;</a></span>defaultParams()</h2>

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<p>Default parameters A set of parameters which provides better model quality, can be very slow. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3574664d1534355a1365bab363f57d99">&#9670;&nbsp;</a></span>hashTSDFParams()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d4/db0/structcv_1_1large__kinfu_1_1Params.html">Params</a>&gt; cv::large_kinfu::Params::hashTSDFParams </td>
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<p>HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aeb02c8712ce551f9b5ee46bd7c8f517f">&#9670;&nbsp;</a></span>bilateral_kernel_size</h2>

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          <td class="memname">int cv::large_kinfu::Params::bilateral_kernel_size</td>
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<p>Kernel size in pixels for bilateral smooth. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a36a59a7f94e59b29bfc2a6713360475d">&#9670;&nbsp;</a></span>bilateral_sigma_depth</h2>

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          <td class="memname">float cv::large_kinfu::Params::bilateral_sigma_depth</td>
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<p>Depth sigma in meters for bilateral smooth. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7e36081c4b9d157e67d43d7129959646">&#9670;&nbsp;</a></span>bilateral_sigma_spatial</h2>

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          <td class="memname">float cv::large_kinfu::Params::bilateral_sigma_spatial</td>
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<p>Spatial sigma in pixels for bilateral smooth. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae0d730daa5f4c8a68cf26356c0daead0">&#9670;&nbsp;</a></span>depthFactor</h2>

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          <td class="memname">float cv::large_kinfu::Params::depthFactor</td>
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<p>pre-scale per 1 meter for input values Typical values are: 5000 per 1 meter for the 16-bit PNG files of TUM database 1000 per 1 meter for Kinect 2 device 1 per 1 meter for the 32-bit float images in the ROS bag files </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a84b73294758ea61ffb70b7fcfc21bd39">&#9670;&nbsp;</a></span>frameSize</h2>

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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> cv::large_kinfu::Params::frameSize</td>
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<p>frame size in pixels </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a81bd0b33b0251ac143d60da4c39b2216">&#9670;&nbsp;</a></span>icpAngleThresh</h2>

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          <td class="memname">float cv::large_kinfu::Params::icpAngleThresh</td>
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<p>angle threshold for ICP in radians </p>

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<a id="a181bea7d8746001620c719a8b0499e6b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a181bea7d8746001620c719a8b0499e6b">&#9670;&nbsp;</a></span>icpDistThresh</h2>

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          <td class="memname">float cv::large_kinfu::Params::icpDistThresh</td>
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<p>distance theshold for ICP in meters </p>

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<a id="a25a449957159d23cbb5b8616e07e634c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a25a449957159d23cbb5b8616e07e634c">&#9670;&nbsp;</a></span>icpIterations</h2>

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<p>number of ICP iterations for each pyramid level </p>

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<a id="a69a31e5dcb4520c024d7d2b67da6dfef"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a69a31e5dcb4520c024d7d2b67da6dfef">&#9670;&nbsp;</a></span>intr</h2>

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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga118a383f60581636c7c8ab180cbb155e">Matx33f</a> cv::large_kinfu::Params::intr</td>
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<p>camera intrinsics </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aff03cc7e7261d38512c43446076aa67c">&#9670;&nbsp;</a></span>lightPose</h2>

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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#gab9e0ab642a3e01742916763173b72232">Vec3f</a> cv::large_kinfu::Params::lightPose</td>
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<p>light pose for rendering in meters </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ade4e8688d5123acc0e85cef753a36a6c">&#9670;&nbsp;</a></span>pyramidLevels</h2>

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          <td class="memname">int cv::large_kinfu::Params::pyramidLevels</td>
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<p>Number of pyramid levels for ICP. </p>

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<a id="a5c561cc9afc58591fdf1caa7f2f1aec4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5c561cc9afc58591fdf1caa7f2f1aec4">&#9670;&nbsp;</a></span>truncateThreshold</h2>

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          <td class="memname">float cv::large_kinfu::Params::truncateThreshold</td>
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<p>Threshold for depth truncation in meters All depth values beyond this threshold will be set to zero. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac009db54c37eb606ae0aa8e0968d5e45">&#9670;&nbsp;</a></span>tsdf_min_camera_movement</h2>

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          <td class="memname">float cv::large_kinfu::Params::tsdf_min_camera_movement</td>
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<p>Minimal camera movement in meters Integrate new depth frame only if camera movement exceeds this value. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a5bd28e4f75b6dbdeecabed675e3fc1cf">&#9670;&nbsp;</a></span>volumeParams</h2>

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          <td class="memname"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">kinfu::VolumeParams</a> cv::large_kinfu::Params::volumeParams</td>
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<p>Volume parameters. </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../d1/db8/large__kinfu_8hpp.html">large_kinfu.hpp</a></li>
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